diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 76b16f104..7d514bc09 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1061,7 +1061,7 @@ B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle comma return b3CreateCollisionShapeAddSphere(commandHandle, radius); } -B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[3]) +B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1085,7 +1085,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle comma return -1; } -B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/]) +B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]) { return b3CreateCollisionShapeAddBox(commandHandle, halfExtents); } @@ -1145,7 +1145,7 @@ B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle com return b3CreateCollisionShapeAddCylinder(commandHandle, radius, height); } -B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[3], double planeConstant) +B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[3], double planeConstant) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1169,11 +1169,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle com } return -1; } -B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant) +B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant) { return b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant); } -B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[3]) +B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1199,7 +1199,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle comm return -1; } -B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/]) +B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]) { return b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale); } @@ -1222,7 +1222,7 @@ B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHand b3CreateCollisionSetFlag(commandHandle, shapeIndex, flags); } -B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[3], double childOrientation[4]) +B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[3], const double childOrientation[4]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1243,12 +1243,12 @@ B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommand } } -B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]) +B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]) { b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, childPosition, childOrientation); } -B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double rgbaColor[/*4*/]) +B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double rgbaColor[/*4*/]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1266,7 +1266,7 @@ B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle c } } -B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double specularColor[/*3*/]) +B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double specularColor[/*3*/]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1343,7 +1343,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3Physics return 0; } -B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[3], double baseOrientation[4], double baseInertialFramePosition[3], double baseInertialFrameOrientation[4]) +B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[3], const double baseOrientation[4], const double baseInertialFramePosition[3], const double baseInertialFrameOrientation[4]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1398,13 +1398,13 @@ B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandl B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, - double linkPosition[3], - double linkOrientation[4], - double linkInertialFramePosition[3], - double linkInertialFrameOrientation[4], + const double linkPosition[3], + const double linkOrientation[4], + const double linkInertialFramePosition[3], + const double linkInertialFrameOrientation[4], int linkParentIndex, int linkJointType, - double linkJointAxis[3]) + const double linkJointAxis[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1641,7 +1641,7 @@ B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHan return 0; } -B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3]) +B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -1658,7 +1658,7 @@ B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommand return 0; } -B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3]) +B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -2438,7 +2438,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetMass(b3SharedMemoryCommandHandle comman return 0; } -B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, double localInertiaDiagonal[]) +B3_SHARED_API int b3ChangeDynamicsInfoSetLocalInertiaDiagonal(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, const double localInertiaDiagonal[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO); @@ -2616,7 +2616,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3Ph return (b3SharedMemoryCommandHandle)command; } -B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[]) +B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildPivot[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -2631,7 +2631,7 @@ B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHan command->m_userConstraintArguments.m_childFrame[2] = jointChildPivot[2]; return 0; } -B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[]) +B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildFrameOrn[]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -3094,7 +3094,7 @@ B3_SHARED_API void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3De } /// Add/remove user-specific debug lines and debug text messages -B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime) +B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[3], const double toXYZ[3], const double colorRGB[3], const double lineWidth, const double lifeTime) { PhysicsClient* cl = (PhysicsClient*)physClient; b3Assert(cl); @@ -3125,7 +3125,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3Physics return (b3SharedMemoryCommandHandle)command; } -B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime) +B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[3], const double colorRGB[3], double textSize, double lifeTime) { PhysicsClient* cl = (PhysicsClient*)physClient; b3Assert(cl); @@ -3173,7 +3173,7 @@ B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle com command->m_updateFlags |= USER_DEBUG_HAS_OPTION_FLAGS; } -B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[4]) +B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, const double orientation[4]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -3307,7 +3307,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsCli return (b3SharedMemoryCommandHandle)command; } -B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]) +B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -4017,7 +4017,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClien return (b3SharedMemoryCommandHandle)command; } -B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]) +B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[4]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -4033,7 +4033,7 @@ B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle comm } } -B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]) +B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -4526,7 +4526,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3Physic return (b3SharedMemoryCommandHandle)command; } -B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]) +B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, const double rootPos[3]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); @@ -4538,7 +4538,7 @@ B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandH return 0; } -B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]) +B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, const double rootOrn[4]) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; b3Assert(command); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index ae10d42b7..539b383b5 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -169,8 +169,8 @@ extern "C" ///change parameters of an existing user constraint B3_SHARED_API b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId); - B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[/*3*/]); - B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[/*4*/]); + B3_SHARED_API int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildPivot[/*3*/]); + B3_SHARED_API int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, const double jointChildFrameOrn[/*4*/]); B3_SHARED_API int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce); B3_SHARED_API int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio); B3_SHARED_API int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink); @@ -206,11 +206,11 @@ extern "C" B3_SHARED_API int b3GetStatusOpenGLVisualizerCamera(b3SharedMemoryStatusHandle statusHandle, struct b3OpenGLVisualizerCameraInfo* camera); /// Add/remove user-specific debug lines and debug text messages - B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[/*3*/], double toXYZ[/*3*/], double colorRGB[/*3*/], double lineWidth, double lifeTime); + B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, const double fromXYZ[/*3*/], const double toXYZ[/*3*/], const double colorRGB[/*3*/], double lineWidth, double lifeTime); - B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[/*3*/], double colorRGB[/*3*/], double textSize, double lifeTime); + B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, const double positionXYZ[/*3*/], const double colorRGB[/*3*/], double textSize, double lifeTime); B3_SHARED_API void b3UserDebugTextSetOptionFlags(b3SharedMemoryCommandHandle commandHandle, int optionFlags); - B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, double orientation[/*4*/]); + B3_SHARED_API void b3UserDebugTextSetOrientation(b3SharedMemoryCommandHandle commandHandle, const double orientation[/*4*/]); B3_SHARED_API void b3UserDebugItemSetReplaceItemUniqueId(b3SharedMemoryCommandHandle commandHandle, int replaceItem); B3_SHARED_API void b3UserDebugItemSetParentObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex); @@ -223,7 +223,7 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient); - B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[/*3*/]); + B3_SHARED_API void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, const double objectColorRGB[/*3*/]); B3_SHARED_API void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex); ///All debug items unique Ids are positive: a negative unique Id means failure. @@ -309,8 +309,8 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels); B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); - B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[/*4*/]); - B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[/*3*/]); + B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[/*4*/]); + B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[/*3*/]); B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand2(b3SharedMemoryCommandHandle commandHandle); @@ -453,43 +453,43 @@ extern "C" B3_SHARED_API b3SharedMemoryCommandHandle b3CreateCollisionShapeCommandInit(b3PhysicsClientHandle physClient); B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius); - B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/]); + B3_SHARED_API int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]); B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height); B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height); - B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant); - B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/]); + B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant); + B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]); B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags); - B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]); + B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]); B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle); B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId); B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient); B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius); - B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, double halfExtents[/*3*/]); + B3_SHARED_API int b3CreateVisualShapeAddBox(b3SharedMemoryCommandHandle commandHandle, const double halfExtents[/*3*/]); B3_SHARED_API int b3CreateVisualShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height); B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height); - B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, double planeNormal[/*3*/], double planeConstant); - B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, double meshScale[/*3*/]); + B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant); + B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]); B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags); - B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double childPosition[/*3*/], double childOrientation[/*4*/]); - B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double specularColor[/*3*/]); - B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, double rgbaColor[/*4*/]); + B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]); + B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double specularColor[/*3*/]); + B3_SHARED_API void b3CreateVisualShapeSetRGBAColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double rgbaColor[/*4*/]); B3_SHARED_API int b3GetStatusVisualShapeUniqueId(b3SharedMemoryStatusHandle statusHandle); B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3PhysicsClientHandle physClient); - B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, double basePosition[/*3*/], double baseOrientation[/*4*/], double baseInertialFramePosition[/*3*/], double baseInertialFrameOrientation[/*4*/]); + B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[/*3*/], const double baseOrientation[/*4*/], const double baseInertialFramePosition[/*3*/], const double baseInertialFrameOrientation[/*4*/]); B3_SHARED_API int b3CreateMultiBodyLink(b3SharedMemoryCommandHandle commandHandle, double linkMass, double linkCollisionShapeIndex, double linkVisualShapeIndex, - double linkPosition[/*3*/], - double linkOrientation[/*4*/], - double linkInertialFramePosition[/*3*/], - double linkInertialFrameOrientation[/*4*/], + const double linkPosition[/*3*/], + const double linkOrientation[/*4*/], + const double linkInertialFramePosition[/*3*/], + const double linkInertialFrameOrientation[/*4*/], int linkParentIndex, int linkJointType, - double linkJointAxis[/*3*/]); + const double linkJointAxis[/*3*/]); //useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle); @@ -515,8 +515,8 @@ extern "C" B3_SHARED_API int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); - B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[/*3*/]); - B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[/*3*/]); + B3_SHARED_API int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, const double linVel[/*3*/]); + B3_SHARED_API int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, const double angVel[/*3*/]); B3_SHARED_API int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions); B3_SHARED_API int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition); @@ -584,8 +584,8 @@ extern "C" B3_SHARED_API void b3GetVREventsData(b3PhysicsClientHandle physClient, struct b3VREventsData* vrEventsData); B3_SHARED_API b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle physClient); - B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[/*3*/]); - B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[/*4*/]); + B3_SHARED_API int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, const double rootPos[/*3*/]); + B3_SHARED_API int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, const double rootOrn[/*4*/]); B3_SHARED_API int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId); B3_SHARED_API int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);